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   VI-DriveSim 19.2 on Linux &gt; VI-DriveSim 19.2 Configuration &gt; <a href="drivesim_drivesim_interface.htm">VI-DriveSim Interface</a>&nbsp;&gt;</p>
      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">Action Feedback</span></h1>

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<p class="p_Normal">If you click on the <span style="font-style: italic;">Action Feedback</span> tab, you can setup and configure the motors of the steering wheel, as shown in the figure below. For a complete description of the changed behaviour respect to the previous version of VI-DriveSim please refer to the chapter <span style="font-style: italic;">Release Notes</span>, at the <span style="font-style: italic;">Changed Behaviour</span> paragraph.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal" style="text-align: center;"><img alt="drvsim_motors_tab" width="962" height="720" style="margin:0px auto 0px auto;width:962px;height:720px;border:none" src="drvsim_motors_tab.png"/></p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The new User Interface is composed by three groups of parameters (blue highlighting), a group of status information (red highlighting) and three buttons to interact with the motor (green highlighting).</p>
<p class="p_Normal">A complete description of all the parameters, the elements and their meaning is presented below.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-size: 12pt; font-weight: bold;">Simulation Parameters</span></p>
<p class="p_Normal">These are the steering parameters loaded from the VI-CarRealTime model.</p>
<p class="p_Normal">All the <span style="font-style: italic;">simulation parameters</span> and their meaning is reported in the following table.</p>
<p class="p_Normal">&nbsp;</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 0px;"><table style="border:none; border-spacing:0px; border-collapse:collapse;">
<thead>
<tr style="text-align:left;vertical-align:top;">
<th style="vertical-align:middle; width:189px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Parameter Name</span></p>
</th>
<th style="vertical-align:middle; width:577px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Description</span></p>
</th>
</tr>
</thead>
<tbody>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 11px;">Friction coeff. [Nm]</p>
</td>
<td style="vertical-align:middle; width:577px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> steering wheel global friction of the VI-CarRealTime model</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 11px;">Damping coeff. [Nm*s/rad]</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> steering wheel global damping of the VI-CarRealTime model</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 11px;">Inertia coeff. [Kg*m^2]</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> steering wheel global inertia of the VI-CarRealTime model</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 11px;">Max Damping Torque [Nm]</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> steering wheel maximum damping torque value</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 11px;">steering torque gain</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> parameter to set the gain of the steering torque; the default value is 1 and it can be increased or decreased in order to obtain the desired feeling with the steering system</p>
</td>
</tr>
</tbody>
</table>
</div>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-size: 12pt; font-weight: bold;">Safety Parameters</span></p>
<p class="p_Normal">This group of parameters concerns the safety limits in order to avoid critical and dangerous situations during the usage of the driving simulator.</p>
<p class="p_Normal">All the <span style="font-style: italic;">installation parameters</span> and their meaning is reported in the following table.</p>
<p class="p_Normal">This group of parameters is activated only when the simulation is stopped.</p>
<p class="p_Normal">&nbsp;</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 0px;"><table style="border:none; border-spacing:0px; border-collapse:collapse;">
<thead>
<tr style="text-align:left;vertical-align:top;">
<th style="vertical-align:middle; width:189px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Parameter Name</span></p>
</th>
<th style="vertical-align:middle; width:577px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Description</span></p>
</th>
</tr>
</thead>
<tbody>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Max torque [Nm]</p>
</td>
<td style="vertical-align:middle; width:577px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> maximum torque value that can be applied to the motor</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Safety Angle [°]</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> safety angle value beyond which the steering system enters in &quot;<span style="font-style: italic;">safety mode</span>&quot; where the steering wheel will be stopped</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Safety Speed [°/sec]</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> safety speed value beyond which the steering system enters in &quot;<span style="font-style: italic;">safety mode</span>&quot;</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Torque var. limit [Nm/sec]</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> saturation value of the derivative of the torque</p>
</td>
</tr>
</tbody>
</table>
</div>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-size: 12pt; font-weight: bold;">Cockpit Parameters</span></p>
<p class="p_Normal">These parameters are related to the type of cockpit used in the driving simulator.</p>
<p class="p_Normal">All the <span style="font-style: italic;">cockpit parameters</span> and their meaning is reported in the following table.</p>
<p class="p_Normal">This group of parameters is activated only when the simulation is stopped.</p>
<p class="p_Normal">&nbsp;</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 0px;"><table style="border:none; border-spacing:0px; border-collapse:collapse;">
<thead>
<tr style="text-align:left;vertical-align:top;">
<th style="vertical-align:middle; width:189px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Parameter Name</span></p>
</th>
<th style="vertical-align:middle; width:576px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Description</span></p>
</th>
</tr>
</thead>
<tbody>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Friction stiffness Rise</p>
</td>
<td style="vertical-align:middle; width:576px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> parameter to tune the value of the friction*</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Friction stiffness Fall</p>
</td>
<td style="vertical-align:middle; width:576px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> parameter to tune the value of the friction*</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Friction coeff. [Nm]</p>
</td>
<td style="vertical-align:middle; width:576px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> cockpit steering wheel global friction </p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Damping coeff. [Nm*s/rad]</p>
</td>
<td style="vertical-align:middle; width:576px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> cockpit steering wheel global damping </p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">Inertia coeff. [Kg*m^2]</p>
</td>
<td style="vertical-align:middle; width:576px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> cockpit steering wheel global inertia </p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">soft stop min angle [deg]</p>
</td>
<td style="vertical-align:middle; width:576px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> maximum steering wheel angle beyond which a software stop is applied, by supplying a reverse torque value that stops the steering wheel</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">soft stop max angle [deg]</p>
</td>
<td style="vertical-align:middle; width:576px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> minimum steering wheel angle beyond which a software stop is applied, by supplying a reverse torque value that stops the steering wheel</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">zero angle [deg]</p>
</td>
<td style="vertical-align:middle; width:576px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> offset value to center the steering wheel**</p>
</td>
</tr>
</tbody>
</table>
</div>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">In the following sections the procedures to set the parameter's values are explained.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-weight: bold; text-decoration: underline;">*Friction Tuning Procedure</span></p>
<p class="p_Normal">If the default values does not satisfy the desired feeling please decrease the <span style="font-style: italic;">Friction stiffness Fall </span>and<span style="font-style: italic;"> Friction stiffness Rise </span>values, starting from Friction stiffness Fall <span style="font-style: italic;">= </span>1000 and by maintaining the following ratio: </p>
<p class="p_Normal"> <span style="font-weight: bold;">Friction stiffness Fall / Friction stiffness Rise = 3</span>. </p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-weight: bold; text-decoration: underline;">**Zero Angle Setting Procedure</span></p>
<p class="p_Normal">In order to set the correct <span style="font-style: italic;">zero angle</span> value please follow the procedure explained below:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">1.</span>set the <span style="font-style: italic;">zero angle</span> value to 0, then click <span style="font-style: italic;">Apply Settings</span>;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">2.</span>click on <span style="font-style: italic;">Reset AxM-II</span> in order to reset the motor drive;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">3.</span>move the steering wheel in the desired zero position;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">4.</span>run a simple test with only the <span style="font-style: italic;">iodb_elab</span> module;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">5.</span>read the angle value from the RTDB channel (angle = x);</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">6.</span>set as <span style="font-style: italic;">zero angle </span>the opposite of the value previously read (zero angle = -x), then click <span style="font-style: italic;">Apply Settings</span>;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">7.</span>click on <span style="font-style: italic;">Reset AxM-II.</span></p><p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-size: 11pt; font-weight: bold; text-decoration: underline;">Functioning:</span></p>
<p class="p_Normal">The steering wheel torque felt by the driver is given by a physical component corresponding to the inertia and friction of real steering system mounted on the simulator and a component which is the torque applied by the motor.</p>
<p class="p_Normal">The torque applied by the motor, in turn, is composed by two components: the first is the torque given in real time by the model, and the second is the torque corresponding to some simulated inertia, friction and damping which are calculated by the motor drive. The amount of simulated inertia is given by the difference between the inertia of the <span style="font-style: italic;">Simulation Parameters</span> and the inertia of the <span style="font-style: italic;">Cockpit Parameters</span> (if the difference is negative, the value 0 is applied). Similarly, the simulated friction and damping coefficients applied by the motor are the difference between the friction of the <span style="font-style: italic;">Simulation Parameters</span> and the friction of the <span style="font-style: italic;">Cockpit Parameters</span> and the difference between the damping of the <span style="font-style: italic;">Simulation Parameters</span> and the damping of the <span style="font-style: italic;">Cockpit Parameters</span>, respectively (if the difference is negative, the value 0 is applied). Therefore, if the <span style="font-style: italic;">Simulation Parameters</span> are found by an identification procedure applied on the simulator steering wheel, the <span style="font-style: italic;">Cockpit Parameters</span> will correspond to the inertia, friction and damping as felt by the driver. Clearly, this is possible only when the <span style="font-style: italic;">Simulation Parameters</span> are bigger than the <span style="font-style: italic;">Cockpit Parameters</span>.</p>
<p class="p_Normal">When the <span style="font-style: italic;">vicrt</span> flag named VIDRIVESIM_ADVSTEER_AUTOSET is active (it can be set in the <a href="drvsim_confprod_name_configuration.htm" class="topiclink">configuration tab</a>) the <span style="font-style: italic;">Simulation Parameters</span> are filled automatically such that the torque felt by the driver is as close as possible to the simulated steering wheel torque.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-size: 12pt; font-weight: bold;">Status</span></p>
<p class="p_Normal">This group gives a complete description of the status of the motor and some information about it and about the EtherCAT devices.</p>
<p class="p_Normal">The following table reports a brief explanation of all the elements present in this group.</p>
<p class="p_Normal">&nbsp;</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 0px;"><table style="border:none; border-spacing:0px; border-collapse:collapse;">
<thead>
<tr style="text-align:left;vertical-align:top;">
<th style="vertical-align:middle; width:189px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Element Name</span></p>
</th>
<th style="vertical-align:middle; width:577px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p><span style="font-size: 8pt; font-weight: bold;">Description</span></p>
</th>
</tr>
</thead>
<tbody>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">version</p>
</td>
<td style="vertical-align:middle; width:577px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> firmware version number</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">motor power</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> led that shows the status of the power supply to the motor</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">fw status</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> Firmware status flag:</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 0px;"><table style="border:none; border-spacing:0px;">
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:93px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 6px;"><span style="font-style: italic; font-weight: bold;">homing</span></p>
</td>
<td style="vertical-align:top; width:484px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 5px;">homing procedure to bring the steering wheel in the zero position;</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:93px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 6px;"><span style="font-style: italic; font-weight: bold;">OK</span></p>
</td>
<td style="vertical-align:top; width:484px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 5px;">ready;</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:93px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 6px;"><span style="font-style: italic; font-weight: bold;">angle</span><span style="font-style: italic;"> </span><span style="font-style: italic; font-weight: bold;">limit</span></p>
</td>
<td style="vertical-align:top; width:484px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 5px;">safety status due to angle limit reached;</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:93px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 6px;"><span style="font-style: italic; font-weight: bold;">speed</span><span style="font-style: italic;"> </span><span style="font-style: italic; font-weight: bold;">limit</span></p>
</td>
<td style="vertical-align:top; width:484px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 5px;">safety status due to over speed;</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:93px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 6px;"><span style="font-style: italic; font-weight: bold;">homing</span><span style="font-style: italic;"> </span><span style="font-style: italic; font-weight: bold;">failed</span></p>
</td>
<td style="vertical-align:top; width:484px; padding:0px;"><p class="p_Normal" style="margin: 0px 0px 0px 5px;">safety status due to homing procedure failing;</p>
</td>
</tr>
</table>
</div>
<p><span style="color: #000000;">&nbsp;</span></p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">alarms</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> useful to know which error affects the drive, using the AxM-II error table you can check and find a &nbsp;description of the error</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">status</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> a short description of the drive status</p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:top; width:189px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 11px;">EtherCAT Input / Output</p>
</td>
<td style="vertical-align:middle; width:577px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p> shows the activity of the EtherCAT connection between the real time machine and the drive AxM-II &nbsp;drive</p>
</td>
</tr>
</tbody>
</table>
</div>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal"><span style="font-size: 12pt; font-weight: bold;">Interactive Buttons</span></p>
<p class="p_Normal">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span style="font-weight: bold;">Connect AxM-II</span>: <span style="font-weight: bold;"> </span>if a Phase motor/drive is used, this button let you connect the controller to the simulation machine, to do this a serial connection between the real-time machine and the Phase drive is required; if the drive is connected, clicking again of the connect AxM-II button will disconnect the drive from the real time machine;</p><p class="p_Normal">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span style="font-weight: bold;">Reset AxM-II</span>: this button resets the motor controller. </p><p class="p_Normal">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span style="font-weight: bold;">Apply Settings</span>: applies modifications (after simulation is started and it has effect in real-time, the drive needs to be connected).</p><p class="p_Normal" style="text-align: left;">&nbsp;</p>
<p class="p_Normal">&nbsp;</p>
<p style="text-align: center; margin: 0px 0px 0px 24px;">&nbsp;</p>

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